vision-guided robot position control
DESCRIPTION
Vision-Guided Robot Position Control. Tony Baumgartner – Computer Science Jeff Clements – Mechanical Engineer Norman Pond – Electrical Engineer Brock Shepard – Mechanical Engineer Nicholas Vidovich – Computer Engineer. SKYNET. Advisors: Dr. Juliet Hurtig & Dr. J.D. Yoder. February 19, 2004. - PowerPoint PPT PresentationTRANSCRIPT
SKYNETTony Baumgartner – Computer Science
Jeff Clements – Mechanical Engineer
Norman Pond – Electrical Engineer
Brock Shepard – Mechanical Engineer
Nicholas Vidovich – Computer Engineer
Advisors: Dr. Juliet Hurtig & Dr. J.D. Yoder
February 19, 2004
Vision-Guided RobotPosition Control
Problem Identification
Equipment Provided
• Desktop computer
• Two CCD (Charge-Coupled Device ) cameras
• ABB Robot
• Controller
RobotABB – Articulated IRB 140
Controller
Design Deliverables
Image Processing Completion Date– Difference Algorithm 12/19/03– Blob Detection 02/20/04– Object Recognition 03/17/04– User Interface 03/17/04
Overall– CPU/Robot Communication 03/17/04– Gripper Implementation 03/17/04– Testing 04/15/04
Vision Systems
Eye-On-Hand Configuration
• Limited view of work area
• Partial view of object
• Continually changes coordinate system mapping
Vision Systems
External Stereo Camera Configuration
• Distance fixed between cameras
• Coordinate system relation between camera space and real space fixed
• Full view of object
Software Block Diagram CaptureInitial
Capture Current
Compare Using
Difference
Ready?
Identify Object
/Find
Coordinates
Send Instructions
Controller Commands
Robot
Check Actions
Done?
Difference Algorithm Visuals
Object Recognition Algorithms
• Shape-Based Matching– Thresholding– Blob Detection– Pattern Recognition– Similarity Measure
Object Recognition VisualsNo Object in Scene
Object Recognition VisualsObject Enters Scene
Object Recognition VisualsBlob Show
Object Recognition VisualsBlob Find
Other Object Recognition Visuals
Other Object Recognition Visuals
Current Status
• Object recognition is currently being developed
• Serial communications with robot controller and computer are being established to send and receive coordinate values
Future Implementation
After Completion of Object Recognition
• Develop a coordinate system that can be converted from pixels to millimeters
• Develop calculations of where the object actually is in the camera view compared with the actual space
Future Implementation
After Completion of Controller/Computer Connection
• Develop algorithm that loops receiving values and transmitting values to move the robot
QUESTIONS
?
References<1> ABB Product Specification Sheet (2003)<2> Lin, C.T., Tsai D.M. (2002) Fast normalized cross correlation for
defect detection. Machine Vision. Yuan-Ze University,1-5.<3> Phil Baratti “Robot Precision” (personal communication, November 4
2003)<4> Stegar, C.., 2001. Similarity measures for occlusion, clutter, and
illumination invariant object recognition. In: B. Radig and S. Florczyk(eds), Mustererkennung 2001, Springer Munchen, pp. 145-154.
<5> Stegar, C., Ulrich, M. 2002 Performance Evaluation of 2D Object Recognition Techniques. Technical Report: Technische Universitat Munchen, 1-15.
<6> Robots and Manufacturing Automation, pg. 220-222.<7> http://www.prip.tuwien.ac.at/Research/RobotVision/vs.html